视觉SLAM十四讲：Sophus 安装

安装

安装 slambook2

git clone https://github.com/gaoxiang12/slambook2.git
cd slambook2

# 下载第三方依赖库，建议以这种方式下载，不要自己安装，否则坑比价多！
git submodule init
git submodule update

安装 Sophus

ls 3rdparty/Sophus/
mkdir build
cd build 
cmake ..
make 

安装会报下面的错误，参考 Sophus安装踩坑 的博客。
解决error: implicitly-declared ‘Eigen::Map<Sophus::Sim3<double> >::Map(const Eigen::Map<Sophus::Sim3<double> >&)’ is deprecated [-Werror=deprecated-copy错误

Sophus在cmakelist那加一句set(CMAKE_CXX_FLAGS "-Wno-error=deprecated-declarations -Wno-deprecated-declarations ")就行了

修改后的 CMakeLists.txt 文件部分内容

cmake_minimum_required(VERSION 3.4)
project(Sophus VERSION 1.0.0)

include(CMakePackageConfigHelpers)

# Release by default
# Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
endif()

set(CMAKE_CXX_STANDARD 11)

# Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
   SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -Wno-deprecated-register -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics")
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
   SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++11 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
   SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
   SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
   SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$")
   ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP")
ENDIF()

# 新加的内容在这里！
set(CMAKE_CXX_FLAGS "-Wno-error=deprecated-declarations -Wno-deprecated-declarations ")

重新编译

ls 3rdparty/Sophus/
mkdir build
cd build 
cmake ..
make 

ch4的例程可以正常运行了，编译过程如下：

cd slambook2/ch4
mkdir build
cmake ..
make

# 执行
./useSophus

程序输出

SO(3) from matrix:
2.22045e-16          -1           0
          1 2.22045e-16           0
          0           0           1
SO(3) from quaternion:
2.22045e-16          -1           0
          1 2.22045e-16           0
          0           0           1
they are equal
so3 =      0      0 1.5708
so3 hat=
      0 -1.5708       0
 1.5708       0      -0
     -0       0       0
so3 hat vee=      0      0 1.5708
SO3 updated = 
          0          -1           0
          1           0     -0.0001
     0.0001 2.03288e-20           1
*******************************
SE3 from R,t= 
2.22045e-16          -1           0           1
          1 2.22045e-16           0           0
          0           0           1           0
          0           0           0           1
SE3 from q,t= 
2.22045e-16          -1           0           1
          1 2.22045e-16           0           0
          0           0           1           0
          0           0           0           1
se3 =  0.785398 -0.785398         0         0         0    1.5708
se3 hat = 
        0   -1.5708         0  0.785398
   1.5708         0        -0 -0.785398
       -0         0         0         0
        0         0         0         0
se3 hat vee =  0.785398 -0.785398         0         0         0    1.5708
SE3 updated = 
2.22045e-16          -1           0      1.0001
          1 2.22045e-16           0           0
          0           0           1           0
          0           0           0           1

ch12/dense_mono 碰到的问题

解决error: ‘CV_GRAY2BGR’ was not declared in this scope错误

#define CV_VERSION_MAJOR 470


    #if (CV_VERSION_MAJOR >= 4)
        cv::cvtColor(ref, ref_show, cv::COLOR_GRAY2BGR);
        cv::cvtColor(curr, curr_show, cv::COLOR_GRAY2BGR);
    #else
        cv::cvtColor(ref, ref_show, CV_GRAY2BGR);
        cv::cvtColor(curr, curr_show, CV_GRAY2BGR);
    #endif

[1] https://blog.csdn.net/zhangyuanbonj/article/details/127046865
[2] https://blog.csdn.net/weixin_41698305/article/details/116547361